I think of the talking to angels thing like this. There are many instances in the Bible of people talking to angels such as Mary in the New Testament when Gabriel visits her to tell her that she will be the Mother of Our Lord and Savior, Jesus Christ. She asks him questions and he answers her. Also, I think Tobit was guided by an angel by the Archangel Raphael. That is in the Deuterocanonicals.
It is not worship in my opinion to ask for "help" from the angels. They are messengers of God and are to come to our aid when we are in need of help. A prayer can be as simple as "help me please" with whatever is going on in one's life and they feel the need of additional help from the spirit realm.
Beliefnet Community Moderator ~ Peace Love Stardove
It is no longer good enough to cry peace, we must act peace, live peace, and live in peace. -Shenandoah proverb
I do believe in guardian angels, arch angels and other angels that are in higher authority than the lower angels.
I do believe in the archangels Michael, Gabriel, Raphael and Uriel but I do not pray to them. My prayers go directly to God. So I only pray to God.
I'm not sure if people can pray to angels or not. From what I've read is that people shouldn't pray or worship the angels but only to God and thank God for everything.